CN109144071A - AGV traffic control method in a kind of narrow lane - Google Patents
AGV traffic control method in a kind of narrow lane Download PDFInfo
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- CN109144071A CN109144071A CN201811162088.1A CN201811162088A CN109144071A CN 109144071 A CN109144071 A CN 109144071A CN 201811162088 A CN201811162088 A CN 201811162088A CN 109144071 A CN109144071 A CN 109144071A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
The present invention relates to AGV traffic control methods in a kind of narrow lane, the side in narrow lane is equipped with reflector, this method comprises: judging whether the light beam of laser transmitting exposes to reflector in the laser of front-end and back-end, if it is, acquire be reflected by reflector plate by received first data of a laser, the motion state of one group of wheel group close to a laser is controlled with the first control model according to the first data and controls the motion state of another group of wheel group with the second control model；If not, judge whether the light beam of front-end and back-end laser transmitting exposes to reflector, if it is, acquire be reflected by reflector plate by received second data of a laser and by the received third data of another laser, the motion state of one group of wheel group is controlled with third control model according to the second data, and controls the motion state of another group of wheel group with the 4th control model according to third data.For improving automatic running precision of the AGV in narrow lane.
Description
Technical field
The invention belongs to port mechanical equipment technical fields, and in particular to AGV traffic control method in a kind of narrow lane.
Background technique
AGV(Automated Guided Vehicle, automated guided vehicle) it is that the special transport of automatic dock is set
Standby, including front axle and rear axle, the front vehicle wheel group of front axle is coaxial and is arranged in parallel with AGV car body, rotation direction always one
It causes, and the rear wheel group of rear axle coaxially and with AGV car body is arranged in parallel, rotation direction is consistent always；Front vehicle wheel group and rear car
Wheel group can do go to action respectively, the steering of Vehicular body front and rear portion be realized, by front vehicle wheel group and rear wheel group steering angle
The turning driving control and straight-line travelling correction control of AGV are realized in the reasonable control of degree.In the prior art, navigation control unit
It is the motion control unit of AGV, the side that the AGV Navigation Control mode of automatic dock uses inertial navigation to correct with absolute position
Formula, inertial navigation are a kind of Relative localization methods, onboard install Inertial Measurement Unit, turn to the essences such as encoder, wheel speed encoder
The direction of motion and speed for really obtaining AGV are calculated the position of trolley by sensing data when known to start position coordinate,
The system has the characteristics that simple and flexible, cheap and real-time are good, and disadvantage is to form error accumulation due to various reasons, when long
Between operation can lead to precision and completely lose；Absolute position correction is using the absolute pose measurement unit of antenna-magnetic nail to AGV in heap
Pose correction in, every the pre-buried magnetic nail of 2m in the operation place of AGV, each magnetic nail records it in the coordinate system of stockyard
Absolute coordinate accordingly a pair of of detection antenna is symmetrically housed in the front and rear of AGV chassis, uses RF radio frequency
The pre-buried magnetic nail of identification technology antenna scanning simultaneously can read absolute position of the magnetic nail in stockyard when covering magnetic nail, and then obtain
AGV current absolute position；According to the mode that inertial navigation is corrected with absolute position, when AGV normally travel, obtains at interval of 2m
It carries out a wheel direction when to absolute position data to adjust, the 2m distance between two pre-buried magnetic nails relies on inertial navigation row
It sails, when AGV straight-line travelling, front-rear direction travels the reachable ± 2cm of positioning accuracy, and left and right directions traveling positioning accuracy can only arrive
Up to ± 150mm；And because of interaction utilization of area rate problem, Design Lane maximum width is 3300mm sometimes, and AGV body width one
As be designed as about 3000mm, therefore AGV vehicle body each side has the excessive width of about 150mm for traveling, therefore individually makes
It is difficult to meet AGV in narrow lane or so driving security performance requirement with the absolute pose measurement unit of antenna-magnetic nail, it may
Serious scraping collision accident is caused, brings economic loss to harbour.Therefore, the present invention proposes the row of AGV in narrow lane a kind of
Vehicle control method, for improving the automatic running precision on AGV left and right directions.
Summary of the invention
AGV traffic control method in a kind of narrow lane provided by the invention, it is intended that improving AGV in narrow vehicle
Traveling precision in road on left and right directions reduces the scraping collision probability in the narrow lane AGV, it is ensured that AGV traffic safety.
In order to solve the above-mentioned technical problem, the following technical solutions are proposed is resolved by the present invention:
AGV traffic control method in a kind of narrow lane, the center position of the headstock front end of the AGV are equipped with front end laser
The device and center position of tailstock rear end is equipped with rear end laser, which is characterized in that pacify on the side in the narrow lane
Equipped with reflector, the lane length C and the AGV length of wagon H are respectively less than reflector length R, and the method includes as follows
Step: it is reflective to judge that the light beam in the front end laser and rear end laser with the presence or absence of the transmitting of a laser exposes to
Plate；If so, execute following steps: acquire be reflected by reflector plate by received first data of one laser；According to
First data control the motion state of one group of wheel group close to one laser with the first control model, and with the second control
Scheme control processed is different from the motion state of another group of wheel group of one group of wheel group；If not, judging that the front end is swashed
Whether light device and the light beam of rear end laser transmitting expose to reflector；If so, executing following steps: obtaining through reflector
Reflection by received second data of one laser, and acquire be reflected by reflector plate by the front end laser and after
Hold the received third data of another laser in laser；One group of vehicle is controlled with third control model according to the second data
The motion state of wheel group, and the motion state of another group of wheel group is controlled according to third data with the 4th control model.
Further, the control method further includes the steps that establishing laser coordinates system: establishing with one laser
The launch center point of device is origin, take the direction of 0 ° of light beam as x-axis and using car body longitudinal centre line as the coordinate system of y-axis, wherein
First control model include the following steps: to obtain 0 ° of light beam of one laser transmitting slave origin to described reflective
The distance S1 of plate；When first preset value < S1 the second preset value of <, control one group of wheel group is mobile far from reflector, when
When third preset value < S1 four preset value of <, one group of wheel group is controlled close to reflector movement, when S1≤the first is default
When value or S1 >=four preset value, control AGV parking；Wherein third control model is identical as first control model；
Second control model includes the following steps: the abscissa x1 for obtaining the point A that 0 ° of light beam is radiated on reflector；It obtains
The light beam of some angle transmitting of one laser is radiated at the abscissa x2 of the point B on reflector；Calculate x1's and x2
Difference DELTA d1；When Δ d1 is positive value and first threshold < Δ d1 < second threshold, another group of wheel group is controlled close to anti-
Tabula rasa is mobile, when the opposite number for the opposite number < Δ d1 < first threshold that Δ d1 is negative value and second threshold, controls another group
Wheel group is mobile far from reflector, and when Δ d1 is positive value and Δ d1 >=second threshold, control AGV stops or when Δ d1 is negative value
And AGV parking is controlled when Δ d1≤second threshold opposite number；
4th control model includes the following steps: the slave launch center point for obtaining 180 ° of light beams of another laser transmitting
To the distance S2 of the reflector；When first preset value < S2 the second preset value of <, it is separate to control another group of wheel group
Reflector is mobile, and when third preset value < S2 four preset value of <, the control another group of wheel group is mobile close to reflector,
When the preset value of S2≤first or S2 >=four preset value, control AGV parking.
Further, judge in the front end laser and rear end laser with the presence or absence of the light beam of laser transmitting
Reflector is exposed to, includes the steps that judging that the headstock or the tailstock enter narrow lane.
Further, the AGV length of wagon H is 15m, and reflector length R is 20m.
Further, first preset value is 1590mm, and the second preset value is 1630mm, and third preset value is
1670mm, the 4th preset value are 1710mm, and first threshold 5mm and second threshold are 20mm.
Compared with prior art, the advantages of the present invention are: the center position installation of the headstock front end of AGV
There is front end laser and the center position of tailstock rear end is equipped with rear end laser, and is equipped in the side in lane reflective
Plate passes through the data of real-time reception front end laser and/or rear end laser feedback reflected by reflector, real-time control tune
The wheel angle of whole front vehicle wheel group and/or rear wheel group realizes the front end that the real-time left and right sides of AGV is rectified a deviation, and is arranged
Laser and rear end laser can realize the detection that in front of headstock and whether there are obstacles in the safe distance of tailstock rear, to mention
Automatic running precision and security performance of the high AGV in narrow lane.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, the present invention will be implemented below
Example or attached drawing needed to be used in the description of the prior art are made one and are briefly introduced, it should be apparent that, drawings discussed below is this
Some embodiments of invention without creative efforts, may be used also for those of ordinary skill in the art
With other accompanying drawings can also be obtained according to these attached drawings.
Fig. 1 is the flow chart of AGV traffic control method embodiment in the narrow lane of the present invention；
Fig. 2 is AGV showing to left side in narrow lane in AGV traffic control method embodiment in the narrow lane of the present invention
It is intended to.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In order to improve the automatic running precision on the left and right sides AGV 1, as shown in Figure 1, the present embodiment be related to it is a kind of narrow
The center position of 1 traffic control method of AGV in lane 2, the front end headstock F of AGV 1 is equipped with front end laser and tailstock R
The center position of rear end is equipped with rear end laser, and reflector 3 is equipped on the side in narrow lane 2, narrow lane 2
Length C and the AGV length of wagon H are respectively less than reflector length R, and this method comprises the following steps: judge front end laser and
Light beam in the laser of rear end with the presence or absence of the transmitting of a laser exposes to reflector 3, if so, executing following steps: adopting
Collection through reflector 3 reflect by received first data of a laser；It is leaned on according to the first data with the control of the first control model
The motion state of one group of wheel group of a nearly laser, and the another of one group of wheel group is different from the control of the second control model
The motion state of group wheel group；If not, judging whether front end laser and the light beam of rear end laser transmitting expose to instead
Tabula rasa 3, if so, executing following steps: acquisition through reflector 3 reflect by received second data of a laser, and adopt
Collection through reflector 3 reflect by the received third data of another laser in front end laser and rear end laser；According to
Two data control the motion state of one group of wheel group with third control model, and are controlled according to third data with the 4th control model
The motion state of another group of wheel group.
Specifically, in the present embodiment, AGV 1 drives into or is driven out to from the same port in narrow lane 2, wherein the lane end
Mouthful it is known as entrance, therefore is introduced into narrow lane 2 there are 1 headstock F of AGV or the case where tailstock R is introduced into narrow lane 2；And
And the correction in order to be covered in lane 2 to AGV 1 comprehensively, reflector length R are longer than or are equal to lane length C, and vehicle body length
It spends H and is less than reflector length R, in the present embodiment reflector length R=20m, length of wagon H=15m, and one end of reflector 3
2 a distance of lane is stretched out at entrance.
For ease of description, as follows only for describing 1 headstock F of AGV and enter the control mode in lane 2, AGV 1 is being passed through
There are modes control as follows when crossing reflector 3: the first: when headstock F initially enters lane 2 from one end of reflector 3, first before
The light beam of end laser transmitter projects can expose on reflector 3, at this time since tailstock R is also without reflector 3, front end
Laser sensor receives the first data and rear end laser sensor does not receive the data reflected by reflector 3, at this time to AGV
The correction control of 1 front vehicle wheel group is realized according to the first data by the first control model, and the correction of rear wheel group controls basis
First data are realized by the second control model；Second: when AGV 1 is completely into lane 2, i.e. front end laser and rear end swashs
When the light beam of light device transmitting can be exposed on reflector 3, front end laser receives the second data and rear end laser connects
Third data are received, the correction control of front vehicle wheel group is realized according to the second data by third control model at this time, and rear wheel
The correction control of group is realized according to third data by the 4th control model.Introduce the first control model, the second control respectively as follows
Molding formula, third control model and the 4th control model.For convenience of description, initially set up laser coordinates system: such as headstock F is first
Lane 2 first is initially entered from one section of reflector 3, using the launch center point of front end laser as origin, with 0 ° of light beam of transmitting
Direction be x-axis, using 1 car body longitudinal centre line of AGV as y-axis, wherein positive direction of the y-axis be 1 direction of advance of AGV, pass through judgement
Inclination conditions between AGV 1 and reflector 3 in time rectify a deviation to AGV 1.In order to guarantee the normal row in lane 2 of AGV 1
It sails, remains with certain distance D1=D2 relative to 2 two sides of lane correspondence at left and right sides of vehicle body, in the present embodiment, body width W=
3000mm, and D1=D2=150mm, in order to which convenient for explanation, the side that the lane 2 of reflector 3 is arranged is known as left side as follows.
First control model
Obtain front end laser transmitting 0 ° of light beam slave origin to reflector 3 distance S1, according to W=3000mm and D1=D2=
150mm, when the car body longitudinal centre line of AGV 1 is overlapped with the longitudinal centre line in lane 2, S1 is equal to 1650mm, therefore, at this
In embodiment, setting such as lower threshold value carries out the correction control of front vehicle wheel group, as 1590mm < S1 < 1630mm, indicates that front vehicle wheel group is inclined
The trend travelled to the left, 1 main controller of AGV by control hydraulic steering system control front vehicle wheel group with 2 ° -3 ° of low-angle to
Correction traveling in right side indicates that front vehicle wheel group has the tendency that being biased to right travel, main controller control in 1670mm < S1 < 1710mm
Front vehicle wheel group processed is rectified a deviation traveling to the left, and as S1≤1590mm or S1 >=1710mm, control AGV 1 stops, 1630mm≤
S1≤1670mm does not rectify a deviation to 1 front vehicle wheel group of AGV.
Second control model
The theorem that straight line is determined based on two o'clock is calculated according to slope of the 3 place straight line of reflector under laser coordinates system
Distance of the tailstock R apart from reflector 3 out, thus travelled according to the correction of the data point reuse rear wheel group of front end laser feedback,
As shown in Fig. 2, 0 ° of light beam of front end laser transmitting is radiated at the point on reflector 3 so that headstock F tilts explanation to the left as an example
A(x1,0), i.e. x1 be 0 ° of light beam slave origin to the distance of reflector 3, obtain front end laser and emit some angle for example
71.5 ° of light beams expose to point b(x2, y2 on reflector 3), in the present embodiment, straight line ab is oblique in laser coordinates system
Rate is identical as slope of the reflector 3 in laser coordinates system, calculates, whenWhen approach infinity, indicate
1 vehicle body of AGV is parallel with reflector 3, does not have to adjustment rear wheel group at this time, whenWhen for smaller positive value, indicate tailstock R closer to
Reflector 3, control rear wheel group is mobile far from reflector 3 at this time, whenWhen for bigger negative value, indicate tailstock R further away from reflective
Plate 3 controls rear wheel group close to the movement of reflector 3 at this time, therefore, passes through the extended line and tailstock R left side edge of straight line ab
Range simulation goes out tailstock R at a distance from reflector 3, realizes the correction control of rear wheel group.As shown in Fig. 2, in the present embodiment
Front end laser transmitting such as 71.5 ° of light beams expose to formation point b(x2, y2 on reflector 3), wherein y2 is 71.5 ° of light beams
From origin to the distance of reflector 3, vertical line is made and with x-axis intersection point to x-axis for point e(x2 with point b, 0), in laser coordinates system
In,The right angled triangle boe that=71.5 ° of light beams, x-axis and line segment be are formed, according to the cosine law, the value of available x2, meter
Calculation obtains the difference DELTA d1 of x1 and x2, indicates that tailstock R close to reflector 3, and is positive constantly table in Δ d1 when Δ d1 is negative value
Show tailstock R far from reflector 3, when Δ d1 is positive value and 5mm < Δ d1 < 20mm, main controller is controlled by hydraulic steering system
Rear wheel group is rectified a deviation traveling to the left with 2 ° -3 ° of low-angle, when Δ d1 is negative value and -20mm < Δ d1 < -5mm, control
Rear wheel group is rectified a deviation traveling to the right with 2 ° -3 ° of low-angle, when Δ d1 is positive value and Δ d1 >=20mm or when Δ d1 is negative value
And Δ d2≤- 20mm, control AGV 1 stop, and as -5mm≤Δ d1≤5mm, do not carry out correction operation to rear wheel group, at this time
Traveling offset distance D on the left of tailstock R with reflector 3 is controlled as D≤60.73mm.In the present embodiment, for ease of calculation
To illustrate the traveling precision of traffic control method as described above herein, front end laser is selected to emit from launch center point
71.5 ° of light beam, and from a point make x-axis vertical line withThe intersection point of=71.5 ° of light beam ob is point f, in triangle aof, it is assumed that S1
(i.e. the line segment length of oa) ≈ 1650mm(such as error can be ± 3mm), af ≈ tan71.5 ° * 1650mm ≈ at this time
Af=l1+l2=5000mm, traveling offset distance D and maximum difference Δ d1=x1- are remembered in 4931.33mm, for convenience subsequent calculating
The calculated relationship of x2=20mm derives as follows according to fig. 2: in right angled triangle bgf, the length of note line segment fg is l1,It obtainsAnd due toSo obtainingIt is similar with right angled triangle hai by right angled triangle bag it is found thatIt obtainsTherefore the correction range on the left of tailstock R apart from reflector 3 meets above-mentioned setting accuracy, under this precision,It obtains, it is known that car body is vertical
It can be effectively controlled within 0.232 ° to center line and 3 maximum angle of reflector.
Third control model
The slave origin of 0 ° of light beam of front end laser transmitting is obtained to the distance S1 of reflector 3, in the present embodiment, setting is worked as
1590mm < S1 < 1630mm indicates that front vehicle wheel group is biased to the trend of left driving, and 1 main controller of AGV passes through control fluid-link steering
System is controlled front vehicle wheel group and is rectified a deviation to the right traveling with 2 ° -3 ° of low-angle, in 1670mm < S1 < 1710mm, expression front truck
Wheel group has the tendency that being biased to right travel, and main controller control front vehicle wheel group is rectified a deviation traveling to the left, when S1≤1590mm or S1 >=
When 1710mm, control AGV 1 stops, and in 1630mm≤S1≤1670mm, does not rectify a deviation to 1 front vehicle wheel group of AGV.
4th control model
Obtain rear end laser transmitting 180 ° of light beams the launch center point from rear end laser to reflector 3 distance S2,
In the present embodiment, 1590mm < S2 < 1630mm is worked as in setting, indicates that rear wheel group is biased to the trend of left driving, AGV 1 is main
Control device is controlled rear wheel group by control hydraulic steering system and is rectified a deviation to the right traveling with 2 ° -3 ° of low-angle, in 1670mm <
When S2 < 1710mm, indicate that rear wheel group has the tendency that being biased to right travel, main controller control rear wheel group is rectified a deviation row to the left
Sail, as S2≤1590mm or S2 >=1710mm, control AGV 1 stop, in 1630mm≤S2≤1670mm, not to AGV 1 after
Wheel group correction.
It is first when tailstock R initially enters entrance due to the case where entering entrance there are AGV 1 headstock F or tailstock R
The launch center point from rear end laser of 0 ° of light beam of rear end laser is first obtained to the distance controlling rear wheel of reflector 3
Group establishes rear end laser coordinates system at this time: using the launch center point of rear end laser as origin, with the side of 0 ° of light beam of transmitting
To for x-axis, using 1 car body longitudinal centre line of AGV as y-axis, wherein positive direction of the y-axis be 1 direction of advance of AGV, according to rear end laser
Difference between the abscissa of the intersection point of the abscissa and 71.5 ° of light beams and reflector 3 of the intersection point of 0 ° of light beam and reflector 3 of device
Front vehicle wheel group is controlled, and when the light beam of front end laser transmitting also exposes on reflector 3, still uses rear end laser
Distance controlling rear wheel group of 0 ° of light beam from the launch center point of rear end laser to reflector 3, and use front end laser
Distance controlling front vehicle wheel group of 180 ° of light beams from the launch center point of front end laser to reflector 3.
When being driven out to lane 2 after AGV 1 drives into lane 2, it is assumed that it is that headstock F is introduced into entrance when driving into,
When AGV 1 is driven out to, first according to the launch center point from front end laser of the 0 of front end laser ° of light beam to reflector 3 away from
From control front vehicle wheel group, and according to the launch center point from rear end laser of 180 ° of light beams of rear end laser to reflector 3
Distance controlling rear wheel group, and front end laser transmitting light beam do not expose on reflector 3 when, still according to rear end
The launch center point from rear end laser of 180 ° of light beams of laser to reflector 3 distance controlling rear wheel group, and according to
The abscissa of the intersection point of the abscissa of the intersection point of 180 ° of light beams and reflector 3 of rear end laser and 71.5 ° of light beams and reflector 3
Between difference control front vehicle wheel group.When being driven out to lane 2 after AGV 1 drives into lane 2, it is assumed that be tailstock R first when driving into
Into entrance, when AGV 1 is driven out to, control mode is similar as described above, and this will not be repeated here.
In addition, front end laser sensor and rear end laser sensor are also used in front of detection headstock F or the rear tailstock R is being pacified
Whether there are obstacles in full distance, and specifically, each laser sensor is Sick LMS 511, and transmitting radiation angle is 180
The two-dimensional sector-shaped planar laser beam of degree, mounting height control its central point apart from ground about 90cm, before detecting AGV car body
Into direction and direction of retreat, whether there are obstacles.In the present embodiment, can set laser safety distance is, for example, 10m, is adopted
Collect the range data measured by every light beam of front end or rear end laser sensor in such as 10m, apart from identical or
The width that similar point is formed in the body width range (such as 3m) more than 30mm when, expression 1 direction of advance of AGV or retrogressing
There are barrier on direction, main controller can trigger AGV 1 and stop in emergency, and move forward and backward so as to form AGV 1 anti-on direction
Hit protection.
AGV traffic control method in narrow lane provided by the invention, the center position peace of the front end headstock F of AGV 1
Center position equipped with front end laser and the rear end tailstock R is equipped with rear end laser, and is equipped with instead in the side in lane 2
Tabula rasa 3 is controlled in real time by the data of real-time reception front end laser and/or rear end laser feedback reflected by reflector 2
The wheel angle of system adjustment front vehicle wheel group and/or rear wheel group realizes the traveling essence to the real-time left and right sides about 60mm of AGV 1
Degree guarantees AGV 1 on a left side higher than the traveling precision for the left and right sides about 150mmn for relying on antenna-magnetic nail to realize in the prior art
Accurate control in right two side directions, it is ensured that 1 traffic safety of AGV, and the front end laser and rear end laser that are arranged can be real
In front of existing headstock F and the detection that whether there are obstacles in the safe distance of the rear tailstock R, guarantee AGV 1 in the longitudinal direction
Protection improves automatic running safety in the narrow lane 2 AGV 1.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (5)
1. AGV traffic control method in a kind of narrow lane, the center position of the headstock front end of the AGV is equipped with front end and swashs
The light device and center position of tailstock rear end is equipped with rear end laser, which is characterized in that on the side in the narrow lane
Reflector is installed, the lane length C and the AGV length of wagon H are respectively less than reflector length R, and the method includes such as
Lower step:
Judge to expose to reflector with the presence or absence of the light beam of laser transmitting in the front end laser and rear end laser,
If so, executing following steps:
Acquisition through the reflector reflect by received first data of one laser；
The movement shape of one group of wheel group of close one laser is controlled with the first control model according to first data
State, and with the control of the second control model different from the motion state of another group of wheel group of one group of wheel group；
If not, judging whether the front end laser and the light beam of rear end laser transmitting expose to the reflector；Such as
Fruit is to execute following steps:
Acquisition through the reflector reflect by received second data of one laser, and acquire and to be reflected by reflector plate
By the received third data of another laser in the front end laser and rear end laser；
The motion state of one group of wheel group is controlled with third control model according to second data, and according to third data
The motion state of another group of wheel group is controlled with the 4th control model.
2. AGV traffic control method in narrow lane according to claim 1, which is characterized in that including establishing laser
The step of coordinate system: it establishes using the launch center point of one laser as origin, using the direction of 0 ° of light beam as x-axis and with vehicle
Body longitudinal centre line is the coordinate system of y-axis；Wherein first control model includes the following steps: to obtain one laser
The distance S1 from the origin to the reflector of 0 ° of light beam of transmitting；When first preset value < S1 the second preset value of <,
It is mobile far from the reflector to control one group of wheel group, when third preset value < S1 four preset value of <, described in control
One group of wheel group is mobile close to the reflector, when the preset value of S1≤first or S1 >=four preset value, control AGV parking；
Wherein third control model is identical as first control model；
Second control model includes the following steps: the abscissa x1 for obtaining the point a that 0 ° of light beam is radiated on the reflector；
The light beam for obtaining some angle transmitting of one laser is radiated at the abscissa x2 of the point b on the reflector；It calculates
The difference DELTA d1 of x1 and x2；When Δ d1 is positive value and first threshold < Δ d1 < second threshold, another group of wheel is controlled
Group is mobile close to the reflector, when the opposite number for the opposite number < Δ d1 < first threshold that Δ d1 is negative value and second threshold
When, another group of wheel group is controlled far from reflector movement, is controlled when Δ d1 is positive value and Δ d1 >=second threshold
AGV parking or the control AGV parking when Δ d1 is negative value and Δ d1≤second threshold opposite number；
4th control model includes the following steps: the slave launch center point for obtaining 180 ° of light beams of another laser transmitting
To the distance S2 of the reflector；When first preset value < S2 the second preset value of <, it is separate to control another group of wheel group
The reflector is mobile, when third preset value < S2 four preset value of <, controls another group of wheel group close to described anti-
Tabula rasa is mobile, when the preset value of S2≤first or S2 >=four preset value, control AGV parking.
3. AGV traffic control method in narrow lane according to claim 2, which is characterized in that judge that the front end is swashed
Light beam in light device and rear end laser with the presence or absence of the transmitting of a laser exposes to the reflector, comprising: described in judgement
The step of headstock or the tailstock initially enter the narrow lane.
4. AGV traffic control method in narrow lane according to claim 2, which is characterized in that the AGV length of wagon
H is 15m, and reflector length R is 20m.
5. AGV traffic control method in narrow lane according to claim 4, which is characterized in that first preset value
For 1590mm, the second preset value is 1630mm, and third preset value is 1670mm, and the 4th preset value is 1710mm, and first threshold is
5mm and second threshold are 20mm.
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| CN115818139A (en) * | 2022-11-10 | 2023-03-21 | 广东海洋大学 | Logistics vehicle for port production AGV transportation |
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